Mavros: 使用 fake_gps

创建于 2018-06-17 · 10评论 · 资料来源: mavlink/mavros

问题详情

你好，
我正在使用带有 APM 固件的 Pixhawk 2。我正在尝试在拒绝 gps 的环境中使用 mavros 的 fake_gps 功能。我正在获取四边形的本地化数据。

我做了什么：
我正在 /mavros/fake_gps/mocap/pose 主题中发布该数据
我已将 GPS_TYPE 参数设置为 14。
还需要做什么？

我尝试了示例代码： https :
由于 OFFBOARD 不可用，我更改为 GUIDED 模式。
执行时，quad 仅布防和撤防。

数据正在发布到 /mavros/global_position/global 和 /mavros/global_position/local 主题。

我错过了使用设定点的东西吗？

谢谢你。

MAVROS 版本和平台

马夫罗斯：0.25.0
ROS：动力学
Ubuntu：16.04

自动驾驶仪类型和版本

[ ] ArduPilot 3.5.5

节点日志

roslaunch mavros apm.launch 

... logging to /home/iarc/.ros/log/1febaee0-721d-11e8-9249-d46d6dbd4f34/roslaunch-iarc-nuc-7785.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.113:43529/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 0
 * /mavros/fake_gps/geo_origin/lat: 0
 * /mavros/fake_gps/geo_origin/lon: 0
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyACM0:57600
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: NONE
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://192.168.1.113:11311

process[mavros-1]: started with pid [7803]
[ INFO] [1529233100.904693726]: FCU URL: /dev/ttyACM0:57600
[ INFO] [1529233100.907066529]: serial0: device: /dev/ttyACM0 @ 57600 bps
[ INFO] [1529233100.907533645]: GCS bridge disabled
[ INFO] [1529233100.917808324]: Plugin 3dr_radio loaded
[ INFO] [1529233100.919697375]: Plugin 3dr_radio initialized
[ INFO] [1529233100.919734284]: Plugin actuator_control blacklisted
[ INFO] [1529233100.922886504]: Plugin adsb loaded
[ INFO] [1529233100.926845739]: Plugin adsb initialized
[ INFO] [1529233100.926925649]: Plugin altitude blacklisted
[ INFO] [1529233100.927045572]: Plugin cam_imu_sync loaded
[ INFO] [1529233100.927855154]: Plugin cam_imu_sync initialized
[ INFO] [1529233100.928014385]: Plugin command loaded
[ INFO] [1529233100.933157757]: Plugin command initialized
[ INFO] [1529233100.933194582]: Plugin debug_value blacklisted
[ INFO] [1529233100.933371202]: Plugin distance_sensor loaded
[ INFO] [1529233100.942871617]: Plugin distance_sensor initialized
[ INFO] [1529233100.943050631]: Plugin fake_gps loaded
[ INFO] [1529233100.955037809]: Plugin fake_gps initialized
[ INFO] [1529233100.955071701]: Plugin ftp blacklisted
[ INFO] [1529233100.955248411]: Plugin global_position loaded
[ INFO] [1529233100.973410008]: Plugin global_position initialized
[ INFO] [1529233100.973452160]: Plugin hil blacklisted
[ INFO] [1529233100.973617757]: Plugin home_position loaded
[ INFO] [1529233100.977492334]: Plugin home_position initialized
[ INFO] [1529233100.977692161]: Plugin imu loaded
[ INFO] [1529233100.984270055]: Plugin imu initialized
[ INFO] [1529233100.984451873]: Plugin local_position loaded
[ INFO] [1529233100.989291483]: Plugin local_position initialized
[ INFO] [1529233100.989510646]: Plugin manual_control loaded
[ INFO] [1529233100.992795357]: Plugin manual_control initialized
[ INFO] [1529233100.992844272]: Plugin mocap_pose_estimate blacklisted
[ INFO] [1529233100.992994825]: Plugin obstacle_distance loaded
[ INFO] [1529233100.995429976]: Plugin obstacle_distance initialized
[ INFO] [1529233100.995575217]: Plugin odom loaded
[ INFO] [1529233100.999476117]: Plugin odom initialized
[ INFO] [1529233100.999861248]: Plugin param loaded
[ INFO] [1529233101.003437383]: Plugin param initialized
[ INFO] [1529233101.003533073]: Plugin px4flow blacklisted
[ INFO] [1529233101.003707552]: Plugin rangefinder loaded
[ INFO] [1529233101.005058203]: Plugin rangefinder initialized
[ INFO] [1529233101.005262754]: Plugin rc_io loaded
[ INFO] [1529233101.009053322]: Plugin rc_io initialized
[ INFO] [1529233101.009096818]: Plugin safety_area blacklisted
[ INFO] [1529233101.009248917]: Plugin setpoint_accel loaded
[ INFO] [1529233101.012390968]: Plugin setpoint_accel initialized
[ INFO] [1529233101.012684757]: Plugin setpoint_attitude loaded
[ INFO] [1529233101.022731729]: Plugin setpoint_attitude initialized
[ INFO] [1529233101.022927908]: Plugin setpoint_position loaded
[ INFO] [1529233101.036281193]: Plugin setpoint_position initialized
[ INFO] [1529233101.036517508]: Plugin setpoint_raw loaded
[ INFO] [1529233101.046721225]: Plugin setpoint_raw initialized
[ INFO] [1529233101.046908548]: Plugin setpoint_velocity loaded
[ INFO] [1529233101.052510683]: Plugin setpoint_velocity initialized
[ INFO] [1529233101.052785529]: Plugin sys_status loaded
[ INFO] [1529233101.061974310]: Plugin sys_status initialized
[ INFO] [1529233101.062195184]: Plugin sys_time loaded
[ INFO] [1529233101.065219807]: TM: Timesync mode: NONE
[ INFO] [1529233101.065815237]: Plugin sys_time initialized
[ INFO] [1529233101.065991897]: Plugin vfr_hud loaded
[ INFO] [1529233101.067270138]: Plugin vfr_hud initialized
[ INFO] [1529233101.067307615]: Plugin vibration blacklisted
[ INFO] [1529233101.067455484]: Plugin vision_pose_estimate loaded
[ INFO] [1529233101.076259336]: Plugin vision_pose_estimate initialized
[ INFO] [1529233101.076298309]: Plugin vision_speed_estimate blacklisted
[ INFO] [1529233101.076496955]: Plugin waypoint loaded
[ INFO] [1529233101.082239613]: Plugin waypoint initialized
[ INFO] [1529233101.082336193]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1529233101.082357679]: Built-in MAVLink package version: 2018.4.4
[ INFO] [1529233101.082385235]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1529233101.082404631]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1529233101.093278229]: IMU: Raw IMU message used.
[ WARN] [1529233101.093778768]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1529233101.093807927]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ INFO] [1529233101.248482208]: CON: Got HEARTBEAT, connected. FCU: ArduPilotMega / ArduCopter
[ INFO] [1529233102.256140604]: VER: 1.1: Capabilities         0x0000000000001bcf
[ INFO] [1529233102.256182404]: VER: 1.1: Flight software:     030505ff (27229c830384802e1bcae90b)
[ INFO] [1529233102.256234497]: VER: 1.1: Middleware software: 00000000 (0384802e1bcae90b)
[ INFO] [1529233102.256319103]: VER: 1.1: OS software:         00000000 (1bcae90b)
[ INFO] [1529233102.256398035]: VER: 1.1: Board hardware:      00000000
[ INFO] [1529233102.256436218]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1529233102.256547518]: VER: 1.1: UID:                 0000000000000000
[ WARN] [1529233102.256762459]: CMD: Unexpected command 520, result 0
[ INFO] [1529233103.394170126]: FCU: GPS 1: specified as MAV
[ INFO] [1529233107.414786119]: FCU: GPS 1: specified as MAV
[ INFO] [1529233111.249279828]: HP: requesting home position
[ INFO] [1529233111.253802921]: FCU: APM:Copter V3.5.5 (27229c83)
[ INFO] [1529233111.253972217]: FCU: PX4: 0384802e NuttX: 1bcae90b
[ INFO] [1529233111.254091634]: FCU: Frame: QUAD
[ INFO] [1529233111.254203199]: FCU: PX4v3 003C0044 31375102 33343537
[ INFO] [1529233111.447864456]: FCU: GPS 1: specified as MAV
[ INFO] [1529233115.481029316]: FCU: GPS 1: specified as MAV
[ INFO] [1529233116.253756914]: WP: mission received
[ INFO] [1529233119.515181385]: FCU: GPS 1: specified as MAV
[ INFO] [1529233120.225944654]: PR: parameters list received
[ INFO] [1529233121.249355747]: HP: requesting home position
[ INFO] [1529233123.555016685]: FCU: GPS 1: specified as MAV
[ INFO] [1529233127.590272598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233131.249285398]: HP: requesting home position
[ INFO] [1529233131.628315571]: FCU: GPS 1: specified as MAV
[ WARN] [1529233135.071486383]: GP: No GPS fix
[ INFO] [1529233135.075731838]: RC_CHANNELS message detected!
[ WARN] [1529233135.076477046]: TM: Wrong FCU time.
[ INFO] [1529233135.653925863]: FCU: GPS 1: specified as MAV
[ INFO] [1529233139.685347724]: FCU: GPS 1: specified as MAV
[ INFO] [1529233141.249356342]: HP: requesting home position
[ INFO] [1529233143.717709032]: FCU: GPS 1: specified as MAV
[ INFO] [1529233147.752196306]: FCU: GPS 1: specified as MAV
[ INFO] [1529233151.249823219]: HP: requesting home position
[ INFO] [1529233151.784442458]: FCU: GPS 1: specified as MAV
[ INFO] [1529233155.808994927]: FCU: GPS 1: specified as MAV
[ INFO] [1529233159.842142713]: FCU: GPS 1: specified as MAV
[ INFO] [1529233161.249325469]: HP: requesting home position
[ INFO] [1529233163.867081122]: FCU: GPS 1: specified as MAV
[ INFO] [1529233167.901698837]: FCU: GPS 1: specified as MAV
[ WARN] [1529233167.902534354]: GP: No GPS fix
[ INFO] [1529233171.249009537]: HP: requesting home position
[ INFO] [1529233171.926019409]: FCU: GPS 1: specified as MAV
[ INFO] [1529233175.952398268]: FCU: GPS 1: specified as MAV
[ INFO] [1529233179.983146598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233181.249289068]: HP: requesting home position
[ INFO] [1529233184.006929757]: FCU: GPS 1: specified as MAV
[ WARN] [1529233186.787595623]: CMD: Unexpected command 11, result 0
[ INFO] [1529233188.027575700]: FCU: GPS 1: specified as MAV
[ INFO] [1529233191.249731575]: HP: requesting home position
[ INFO] [1529233192.112129587]: FCU: GPS 1: specified as MAV
[ WARN] [1529233195.200561229]: TM: Wrong FCU time.
[ INFO] [1529233196.143702084]: FCU: GPS 1: specified as MAV
[ INFO] [1529233200.170517098]: FCU: GPS 1: specified as MAV
[ WARN] [1529233200.191084345]: GP: No GPS fix
[ INFO] [1529233201.249219509]: HP: requesting home position
[ INFO] [1529233204.200820562]: FCU: GPS 1: specified as MAV
[ INFO] [1529233208.224145083]: FCU: GPS 1: specified as MAV
[ INFO] [1529233211.248923744]: HP: requesting home position
[ INFO] [1529233212.258277496]: FCU: GPS 1: specified as MAV
[ INFO] [1529233216.285994373]: FCU: GPS 1: specified as MAV
[ INFO] [1529233220.312574027]: FCU: GPS 1: specified as MAV
[ INFO] [1529233221.249636027]: HP: requesting home position
[ INFO] [1529233224.337966981]: FCU: GPS 1: specified as MAV
[ INFO] [1529233228.368042929]: FCU: GPS 1: specified as MAV
[ INFO] [1529233231.249305788]: HP: requesting home position
[ INFO] [1529233241.249557762]: HP: requesting home position
[ INFO] [1529233251.249011158]: HP: requesting home position
[ WARN] [1529233255.327671766]: TM: Wrong FCU time.
[ INFO] [1529233261.248929313]: HP: requesting home position
[ INFO] [1529233271.248681832]: HP: requesting home position
[ INFO] [1529233281.249366743]: HP: requesting home position
[ INFO] [1529233286.901058197]: FCU: GPS 1: specified as MAV
[ WARN] [1529233286.913974601]: GP: No GPS fix
[ INFO] [1529233290.928028111]: FCU: GPS 1: specified as MAV
[ INFO] [1529233291.249449155]: HP: requesting home position
[ INFO] [1529233294.949740956]: FCU: GPS 1: specified as MAV
[ INFO] [1529233298.977783913]: FCU: GPS 1: specified as MAV
[ INFO] [1529233301.249022461]: HP: requesting home position
[ INFO] [1529233303.007798640]: FCU: GPS 1: specified as MAV
[ INFO] [1529233307.040855179]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.071646472]: FCU: GPS 1: specified as MAV
[ INFO] [1529233311.249484208]: HP: requesting home position
[ INFO] [1529233315.108677495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233315.380266121]: TM: Wrong FCU time.
[ INFO] [1529233319.146834635]: FCU: GPS 1: specified as MAV
[ WARN] [1529233319.162073776]: GP: No GPS fix
[ INFO] [1529233321.249184201]: HP: requesting home position
[ INFO] [1529233323.175349773]: FCU: GPS 1: specified as MAV
[ INFO] [1529233327.205661862]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.233739427]: FCU: GPS 1: specified as MAV
[ INFO] [1529233331.249530318]: HP: requesting home position
[ INFO] [1529233335.268604835]: FCU: GPS 1: specified as MAV
[ INFO] [1529233339.299985616]: FCU: GPS 1: specified as MAV
[ INFO] [1529233341.248873702]: HP: requesting home position
[ INFO] [1529233343.332455953]: FCU: GPS 1: specified as MAV
[ INFO] [1529233347.361766277]: FCU: GPS 1: specified as MAV
[ INFO] [1529233351.249429500]: HP: requesting home position
[ INFO] [1529233351.389718728]: FCU: GPS 1: specified as MAV
[ WARN] [1529233351.390070171]: GP: No GPS fix
[ INFO] [1529233355.419317598]: FCU: GPS 1: specified as MAV
[ INFO] [1529233359.450095251]: FCU: GPS 1: specified as MAV
[ INFO] [1529233361.248966447]: HP: requesting home position
[ INFO] [1529233363.489095254]: FCU: GPS 1: specified as MAV
[ INFO] [1529233367.512442875]: FCU: GPS 1: specified as MAV
[ INFO] [1529233371.248639415]: HP: requesting home position
[ INFO] [1529233371.538314556]: FCU: GPS 1: specified as MAV
[ WARN] [1529233375.426974748]: TM: Wrong FCU time.
[ INFO] [1529233375.570707437]: FCU: GPS 1: specified as MAV
[ INFO] [1529233379.600086762]: FCU: GPS 1: specified as MAV
[ INFO] [1529233381.249291464]: HP: requesting home position
[ WARN] [1529233383.609857168]: GP: No GPS fix
[ INFO] [1529233383.626871073]: FCU: GPS 1: specified as MAV
[ INFO] [1529233387.662994914]: FCU: GPS 1: specified as MAV
[ INFO] [1529233391.248993310]: HP: requesting home position
[ INFO] [1529233391.686922293]: FCU: GPS 1: specified as MAV
[ INFO] [1529233395.714712687]: FCU: GPS 1: specified as MAV
[ INFO] [1529233399.750133517]: FCU: GPS 1: specified as MAV
[ INFO] [1529233401.249354961]: HP: requesting home position
[ INFO] [1529233403.779743139]: FCU: GPS 1: specified as MAV
[ INFO] [1529233407.812814964]: FCU: GPS 1: specified as MAV
[ INFO] [1529233411.248654159]: HP: requesting home position
[ INFO] [1529233411.846221497]: FCU: GPS 1: specified as MAV
[ INFO] [1529233415.874353495]: FCU: GPS 1: specified as MAV
[ WARN] [1529233415.945644587]: GP: No GPS fix
[ INFO] [1529233419.903408485]: FCU: GPS 1: specified as MAV
[ INFO] [1529233421.249254246]: HP: requesting home position
[ INFO] [1529233423.932839130]: FCU: GPS 1: specified as MAV
[ INFO] [1529233427.962273008]: FCU: GPS 1: specified as MAV
[ INFO] [1529233431.249328032]: HP: requesting home position
[ INFO] [1529233431.984509354]: FCU: GPS 1: specified as MAV
[ WARN] [1529233435.500096395]: TM: Wrong FCU time.
[ INFO] [1529233436.006257174]: FCU: GPS 1: specified as MAV
[ INFO] [1529233440.039063452]: FCU: GPS 1: specified as MAV
[ INFO] [1529233441.249443599]: HP: requesting home position
[ INFO] [1529233444.079404012]: FCU: GPS 1: specified as MAV
[ INFO] [1529233448.105451615]: FCU: GPS 1: specified as MAV
[ WARN] [1529233448.126532297]: GP: No GPS fix
[ INFO] [1529233451.249306373]: HP: requesting home position
[ INFO] [1529233452.143016622]: FCU: GPS 1: specified as MAV
[ INFO] [1529233456.168985599]: FCU: GPS 1: specified as MAV
[ INFO] [1529233460.196618407]: FCU: GPS 1: specified as MAV
[ INFO] [1529233461.249133610]: HP: requesting home position
[ INFO] [1529233464.227714397]: FCU: GPS 1: specified as MAV
[ INFO] [1529233468.261722299]: FCU: GPS 1: specified as MAV
[ INFO] [1529233471.248625641]: HP: requesting home position
[ INFO] [1529233481.249068977]: HP: requesting home position
[ INFO] [1529233491.249042000]: HP: requesting home position
[ WARN] [1529233495.522446777]: TM: Wrong FCU time.
[ INFO] [1529233501.249318446]: HP: requesting home position
[ INFO] [1529233511.249172243]: HP: requesting home position
[ INFO] [1529233521.248836416]: HP: requesting home position
[ INFO] [1529233531.249503656]: HP: requesting home position
[ INFO] [1529233541.249042618]: HP: requesting home position
[ INFO] [1529233551.249461932]: HP: requesting home position
[ WARN] [1529233555.581892810]: TM: Wrong FCU time.
[ INFO] [1529233561.249301280]: HP: requesting home position
[ INFO] [1529233571.249552332]: HP: requesting home position
[ INFO] [1529233581.249404226]: HP: requesting home position
[ INFO] [1529233591.249340694]: HP: requesting home position
[ INFO] [1529233601.249134821]: HP: requesting home position
[ INFO] [1529233611.248867728]: HP: requesting home position
[ WARN] [1529233615.634297444]: TM: Wrong FCU time.
[ INFO] [1529233621.249271320]: HP: requesting home position
[ INFO] [1529233631.249518855]: HP: requesting home position
[ INFO] [1529233641.248807186]: HP: requesting home position
[ INFO] [1529233651.248936152]: HP: requesting home position
[ INFO] [1529233661.249330179]: HP: requesting home position
[ INFO] [1529233671.248947692]: HP: requesting home position
[ WARN] [1529233675.660762296]: TM: Wrong FCU time.
[ INFO] [1529233681.249632431]: HP: requesting home position
[ INFO] [1529233691.248845092]: HP: requesting home position
[ INFO] [1529233701.249006952]: HP: requesting home position
[ INFO] [1529233711.249445211]: HP: requesting home position
[ INFO] [1529233721.249430880]: HP: requesting home position
[ INFO] [1529233731.249171087]: HP: requesting home position
[ WARN] [1529233735.698660133]: TM: Wrong FCU time.
[ INFO] [1529233741.249518988]: HP: requesting home position
[ INFO] [1529233751.248892504]: HP: requesting home position
[ INFO] [1529233761.249125937]: HP: requesting home position
[ INFO] [1529233771.249541330]: HP: requesting home position
[ INFO] [1529233781.249461834]: HP: requesting home position
[ INFO] [1529233791.249648463]: HP: requesting home position
[ WARN] [1529233795.725572246]: TM: Wrong FCU time.
[ INFO] [1529233801.248934706]: HP: requesting home position
[ INFO] [1529233811.249255778]: HP: requesting home position
[ INFO] [1529233821.249206161]: HP: requesting home position
[ INFO] [1529233831.249502995]: HP: requesting home position
[ INFO] [1529233841.248692377]: HP: requesting home position
[ INFO] [1529233851.249376398]: HP: requesting home position
[ WARN] [1529233855.810071689]: TM: Wrong FCU time.
[ INFO] [1529233861.248920285]: HP: requesting home position
[ INFO] [1529233871.248628598]: HP: requesting home position
[ INFO] [1529233881.248989665]: HP: requesting home position
[ INFO] [1529233891.249602943]: HP: requesting home position
[ INFO] [1529233901.249465007]: HP: requesting home position
[ INFO] [1529233911.249521154]: HP: requesting home position
[ WARN] [1529233915.839602673]: TM: Wrong FCU time.
[ INFO] [1529233921.249167122]: HP: requesting home position
[ INFO] [1529233931.249239963]: HP: requesting home position
[ INFO] [1529233941.249008651]: HP: requesting home position
[ INFO] [1529233951.248840613]: HP: requesting home position
[ INFO] [1529233961.249624098]: HP: requesting home position
[ INFO] [1529233971.249236874]: HP: requesting home position
[ WARN] [1529233975.883673824]: TM: Wrong FCU time.
[ INFO] [1529233981.248869482]: HP: requesting home position
[ INFO] [1529233991.249665175]: HP: requesting home position
[ INFO] [1529234001.249437581]: HP: requesting home position
[ INFO] [1529234011.249133372]: HP: requesting home position
[ INFO] [1529234021.249644236]: HP: requesting home position
[ INFO] [1529234031.249353099]: HP: requesting home position
[ WARN] [1529234035.961871520]: TM: Wrong FCU time.
[ INFO] [1529234041.249298719]: HP: requesting home position
[ INFO] [1529234051.249243604]: HP: requesting home position
[ INFO] [1529234061.249666832]: HP: requesting home position
[ INFO] [1529234071.249297121]: HP: requesting home position
[ INFO] [1529234081.249317568]: HP: requesting home position
[ INFO] [1529234091.249500240]: HP: requesting home position
[ WARN] [1529234095.965315243]: TM: Wrong FCU time.
[ INFO] [1529234101.249055145]: HP: requesting home position
[ INFO] [1529234111.248864856]: HP: requesting home position
[ INFO] [1529234121.249184079]: HP: requesting home position
[ INFO] [1529234131.249046792]: HP: requesting home position

诊断

place here result of:
rostopic echo -n1 /diagnostics
header: 
  seq: 1121
  stamp: 
    secs: 1529234554
    nsecs:  82984505
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Received packets:"
        value: "51732"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "98"
      - 
        key: "Tx sequence number:"
        value: "62"
      - 
        key: "Rx total bytes:"
        value: "11044217"
      - 
        key: "Tx total bytes:"
        value: "362018"
      - 
        key: "Rx speed:"
        value: "11498.000000"
      - 
        key: "Tx speed:"
        value: "378.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Satellites visible"
        value: "5"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "99.99"
      - 
        key: "EPV (m)"
        value: "99.99"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "1449"
      - 
        key: "Frequency (Hz)"
        value: "1.037027"
      - 
        key: "Vehicle type"
        value: "Quadrotor"
      - 
        key: "Autopilot type"
        value: "ArduPilotMega / ArduCopter"
      - 
        key: "Mode"
        value: "GUIDED"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor helth"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0160FD6F"
      - 
        key: "Sensor enabled"
        value: "0x0260FD6F"
      - 
        key: "Sensor helth"
        value: "0x0160FD6F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "GPS"
        value: "Ok"
      - 
        key: "optical flow"
        value: "Ok"
      - 
        key: "laser based position"
        value: "Ok"
      - 
        key: "3D angular rate control"
        value: "Ok"
      - 
        key: "attitude stabilization"
        value: "Ok"
      - 
        key: "yaw position"
        value: "Ok"
      - 
        key: "z/altitude control"
        value: "Ok"
      - 
        key: "x/y position control"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Ok"
      - 
        key: "Terrain subsystem health"
        value: "Ok"
      - 
        key: "Battery"
        value: "Fail"
      - 
        key: "CPU Load (%)"
        value: "58.5"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyACM0:57600"
    values: 
      - 
        key: "Voltage"
        value: "0.00"
      - 
        key: "Current"
        value: "-0.0"
      - 
        key: "Remaining"
        value: "-1.0"

查身份证

rosrun mavros checkid
OK. I got messages from 1:1.

---
Received 3999 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 129, 2, 133, 1, 136, 137, 24, 150, 152, 22, 27, 29, 30, 193, 33, 35, 36, 165, 42, 173, 178, 182, 62, 65, 74, 77, 163, 100, 241, 116, 125

APM extras question

资料来源

trishantroy

最有用的评论

@trishantroy太好了。
你能告诉我如何解决这个问题吗：
[信息] [1529234131.249046792]：HP：请求原位
我可以使用视觉位置估计来使用位置模式飞行无人机，但是当我切换到总是被拒绝的任务模式时。我认为这是要求家庭位置。我看到了我的 mavros 消息，它插入了 fake_gps，但为什么它总是请求原位？
我应该为它开一个新问题吗？

@px4Li请不要继续讨论已解决的问题。考虑到您使用的是 PX4，您的问题有两种解决方案：

使用fake_gps插件并发送本地位置估计作为 GPS 数据；
使用普通视觉管道，但在 PX4 端，使用 LPE 估计器而不是 EKF2，并将LPE_FAKE_ORIGIN参数设置为1 。

TSC21 于 2018-12-30

❤2

所有10条评论

您是否检查了插件配置： https :
您可能想将https://github.com/mavlink/mavros/blob/master/mavros/launch/px4_config.yaml#L165设置为 false。

TSC21 于 2018-06-17

我尝试了示例代码： https :
由于 OFFBOARD 不可用，我更改为 GUIDED 模式。
执行时，quad 仅布防和撤防。

这与这个问题本身无关。如果您对如何在 APM 中使用 GUIDED 模式有疑问，您应该打开一个新问题或在 APM 论坛中提问。

数据正在发布到 /mavros/global_position/global 和 /mavros/global_position/local 主题。

什么数据？你的数据？还是来自 FCU 的数据？

我错过了使用设定点的东西吗？

同样， fake_gps插件仅用于估计，而不是控制。所以，两个不同的问题。

TSC21 于 2018-06-17

感谢您的回复@TSC21

我已经编辑了 apm_config.yaml 文件。不需要编辑 px4_config.yaml 吧？
#fake_gps fake_gps: # select data source use_mocap: true # ~mocap/pose mocap_transform: false # ~mocap/tf instead of pose use_vision: false # ~vision (pose) # origin (default: Zürich) geo_origin: lat: 0 # latitude [degrees] lon: 0 # longitude [degrees] alt: 0 # altitude (height over the WGS-84 ellipsoid) [meters] eph: 2.0 epv: 2.0 satellites_visible: 5 # virtual number of visible satellites fix_type: 3 # type of GPS fix (default: 3D) tf: listen: false send: false # send TF? frame_id: "map" # TF frame_id child_frame_id: "fix" # TF child_frame_id rate_limit: 10.0 # TF rate gps_rate: 5.0 # GPS data publishing rate
疑问：还有哪些参数要改？

纬度和经度也应该更改为我当前的位置吗？

什么数据？你的数据？还是来自 FCU 的数据？

FCU 可能。后来意识到它不是来自本地化的数据。
有没有办法检查 Pixhawk 是否正在使用定位数据，即估计是否有效？稍后我会检查控制部分。

同样，fake_gps 插件仅用于估计，而不是控制。所以，两个不同的问题。

是的。明白你的意思。

trishantroy 于 2018-06-18

我已经编辑了 apm_config.yaml 文件。不需要编辑 px4_config.yaml 吧？

你在使用 APM 对吗？所以，只需要APM。

纬度和经度也应该更改为我当前的位置吗？

您可以但不是强制性的。这些只是假坐标。

有没有办法检查 Pixhawk 是否正在使用定位数据，即估计是否有效？

您可以同时使用mavros/global_position/global和mavros/local_position/local 。第一个用于 LLA，第二个用于本地位置。

TSC21 于 2018-06-18

@TrishantRoy你解决了吗？

TSC21 于 2018-07-14

其实不完全。把这个放在一边有一段时间了。

我建议目前不要关闭该问题。但如果需要，请关闭它。稍后我将在新帖子中发布与此相关的查询。

谢谢。

trishantroy 于 2018-07-14

@trishantroy你有什么进展吗？

px4Li 于 2018-12-29

我使用外部位置估计功能来解决我面临的问题。

trishantroy 于 2018-12-29

@trishantroy太好了。
你能告诉我如何解决这个问题吗：
我可以使用视觉位置估计来使用位置模式飞行无人机，但是当我切换到总是被拒绝的任务模式时。我认为这是要求家庭位置。我看到了我的 mavros 消息，它插入了 fake_gps，但为什么它总是请求原位？

我应该为它开一个新问题吗？

px4Li 于 2018-12-30